WO2018117174A1

WO2018117174A1 - Work machine

Info

Publication number: WO2018117174A1
Application number: PCT/JP2017/045782
Authority: WO
Inventors: 啓司堀井
Original assignee: 株式会社クボタ
Priority date: 2016-12-22
Filing date: 2017-12-20
Publication date: 2018-06-28
Also published as: CN109937151B; CN109937151A

Abstract

The present invention makes it possible to maintain the travel speed of a travel device in a simple manner without adjusting the amount that a travel steering device is operated. A work machine that comprises: a travel device that travels at different speeds in accordance with the flow of a hydraulic fluid; a travel steering device that, in accordance with the amount that the travel steering device is operated, increases/decreases the flow of hydraulic fluid supplied to the travel device; and a switch operation unit that can change, in multiple stages, the amount of hydraulic fluid supplied to the travel device in correspondence with the amount that the travel steering device is operated. The work machine also comprises a work device and a steering device that steers the work device. The switch operation unit is provided to the steering device.

Description

Working machine

The present invention relates to a work machine such as a backhoe.

Conventionally, a working machine disclosed in Patent Document 1 is known.
The working machine disclosed in Patent Literature 1 includes a traveling lever supported in a swingable manner, an operation valve that changes the pressure of pilot oil in accordance with the amount of operation of the traveling lever, and a working machine in accordance with the pressure of pilot oil. And a traveling motor that changes the traveling speed of the vehicle.

Japanese Patent Publication “JP 2013-57366 A”

In the working machine disclosed in Patent Document 1, in order to change the traveling speed of the working machine, the operator adjusts the operation amount of the traveling lever. However, since the travel lever swings as the work implement swings, it may be difficult for the operator to keep the operation amount of the travel lever constant.
Then, an object of this invention is to provide the working machine which can maintain the traveling speed of a traveling apparatus easily in view of the said subject.

A work machine according to an aspect of the present invention includes a traveling device that changes a traveling speed according to a flow rate of hydraulic oil, a traveling control device that increases or decreases a flow rate of hydraulic oil supplied to the traveling device according to an operation amount, A switch operation unit capable of changing the amount of hydraulic oil supplied to the travel device corresponding to the operation amount of the travel control device in multiple stages.

According to the present invention, it is possible to easily maintain the traveling speed of the traveling device without adjusting the operation amount of the traveling control device.

It is the schematic of the hydraulic system (hydraulic circuit) of the working machine of 1st Embodiment. It is a figure which shows the gear ratio of 1st Embodiment, and the supply ratio (change ratio) of the change supply amount with respect to supply amount. It is a figure which shows the gear ratio of 1st Embodiment, and the change ratio of the change opening with respect to the operation amount. It is a figure which shows the gear ratio of 1st Embodiment, and the gear ratio with respect to a travel control value (swash plate angle). It is a figure which shows the gear ratio of 1st Embodiment, and the gear ratio with respect to a travel control value (rotation speed). It is a figure which shows the 1st modification of the hydraulic system which changes driving speed. It is a figure which shows the 1st modification of the hydraulic system which changes driving speed. It is a figure which shows the 1st modification of the hydraulic system which changes driving speed. It is a figure which shows the 1st modification of the hydraulic system which changes driving speed. It is the schematic of the hydraulic system (hydraulic circuit) of the working machine of 2nd Embodiment. It is a figure which shows the gear stage of 2nd Embodiment, and the supply ratio (change ratio) of the change supply amount with respect to supply amount. It is a figure which shows the gear ratio of 2nd Embodiment, and the change ratio of the change opening with respect to the operation amount. It is a figure which shows the gear ratio of 2nd Embodiment, and the gear ratio with respect to a travel control value (swash plate angle). It is a figure which shows the gear ratio of 2nd Embodiment, and the gear ratio with respect to a travel control value (rotation speed). It is the schematic of the operation member of the working machine of 2nd Embodiment. It is a figure which shows operation of the switch operation part of the working machine of 2nd Embodiment, and allocation of the operation content. It is a figure which shows the 1st modification of operation of the switch operation part of the working machine of 2nd Embodiment, and allocation of the operation content. It is a schematic side view of a working machine. It is a schematic plan view of a part of a working machine.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
[First Embodiment]
First, the overall configuration of the work machine 1 will be described.
FIG. 7 is a schematic side view showing the overall configuration of the work machine 1 according to the present embodiment. FIG. 8 is a schematic plan view of the work machine 1. In the present embodiment, a backhoe that is a turning work machine is illustrated as the work machine 1.

As shown in FIGS. 7 and 8, the work machine 1 includes a machine body (swivel base) 2, a traveling device 3 A, and a work device 4. A cabin 5 is mounted on the body 2. A driver's seat 6 is provided in the cabin 5.
In the present embodiment, the front side (in the direction of arrow A1 in FIGS. 7 and 8) of the driver (operator) seated in the driver's seat 6 of the work machine 1 is forward, and the rear side of the driver (arrows in FIGS. 7 and 8). A2 direction) as the rear, left side of the driver (front side of FIG. 7, arrow B1 direction of FIG. 8) leftward, right side of driver (back side of FIG. 7, arrow B2 direction of FIG. 8) rightward explain.

The horizontal direction, which is a direction orthogonal to the front-rear direction K1, will be described as the body width direction K2 (see FIG. 8). The direction from the center in the width direction of the airframe 2 to the right or left will be described as the outside of the airframe. In other words, the outward direction of the aircraft is the direction in the aircraft width direction K2 and away from the center of the aircraft body 2 in the width direction. The direction opposite to the outside of the aircraft will be described as the inside of the aircraft. In other words, the in-machine direction is the direction in the body width direction K2 that approaches the center of the body 2 in the width direction.

As shown in FIG. 7, the traveling device 3A is a device (hydraulic traveling device) that operates using hydraulic oil as a power source. The traveling device 3A includes a traveling body (first traveling body) 3L provided on the left side and a traveling body (second traveling body) 3R provided on the right side. The traveling body 3L and the traveling body 3R include a driving wheel 11a, a driven wheel 11b, a plurality of wheel 11e, a driving wheel 11a, a driven wheel 11b, a frame 11c that rotatably supports the wheel 11e, and a driving wheel. 11 a, a driven wheel 11 b, and a belt 11 d laid around the roller 11 e. It is a crawler type traveling device. The first traveling motor ML is supported on the frame 11c of the traveling body 3L, and the power of the first traveling motor ML is transmitted to the drive wheels 11a of the traveling body 3L. The second traveling motor MR is supported on the frame 11c of the traveling body 3R, and the power of the second traveling motor MR is transmitted to the drive wheels 11a of the traveling body 3R.

The machine body 2 is supported on the traveling device 3A via a swing bearing 8 so as to be rotatable about a vertical axis (an axis extending in the vertical direction). The machine body 2 is driven to turn by a turning motor MT including a hydraulic motor (hydraulic actuator). The airframe 2 has a swivel substrate 9 that revolves around a vertical axis, and a weight 10. The swivel board 9 is made of a steel plate or the like and is connected to the swivel bearing 8. The weight 10 is provided at the rear part of the airframe 2. A motor E 1 is mounted on the rear part of the body 2. The prime mover E1 is a diesel engine. The prime mover E1 may be an electric motor or a hybrid type having a diesel engine and an electric motor.

The airframe 2 has a support bracket 13 at a front portion slightly to the right of the center in the airframe width direction K2. A swing bracket 14 is attached to the support bracket 13 so as to be swingable about the vertical axis. The working device 4 is attached to the swing bracket 14.
As shown in FIG. 7, the work device 4 includes a boom 15, an arm 16, and a bucket (work tool) 17.

The base of the boom 15 is pivotally attached to the swing bracket 14 so as to be rotatable about a horizontal axis (an axis extending in the body width direction). As a result, the boom 15 can swing up and down. The arm 16 is pivotally attached to the distal end side of the boom 15 so as to be rotatable about a horizontal axis. As a result, the arm 16 can swing back and forth or up and down. The bucket 17 is provided on the distal end side of the arm 16 so as to be able to perform a squeeze operation and a dump operation. The work machine 1 can be mounted with another work tool (preliminary attachment) that can be driven by a hydraulic actuator instead of or in addition to the bucket 17. Examples of other work tools (preliminary attachments) include a hydraulic breaker, a hydraulic crusher, an angle bloom, an earth auger, a pallet fork, a sweeper, a mower, and a snow blower.

The swing bracket 14 is swingable by expansion and contraction of a swing cylinder provided in the airframe 2. The boom 15 is swingable by expansion and contraction of the boom cylinder C3. The arm 16 is swingable by the expansion and contraction of the arm cylinder C4. The bucket 17 is freely squeezed and dumped by expansion and contraction of a bucket cylinder (work implement cylinder) C5. The dozer cylinder, swing cylinder, boom cylinder C3, arm cylinder C4, and bucket cylinder C5 are constituted by hydraulic cylinders (hydraulic actuators).

In addition, the work device 4 includes a dozer device 7 attached to the front portion of the traveling device 3A. The dozer device 7 can be moved up and down (raising and lowering the blade) by expanding and contracting the dozer cylinder.
As shown in FIG. 8, on the left side (one side) of the driver's seat 6 in the cabin 5, a control table 18 L provided in the fuselage 2 is provided. In addition, on the right side (the other side) of the driver's seat 6, a cockpit 18 R provided in the airframe 2 is also provided. The control table 18L and the control table 18R are provided with a work control device 19. The work control device 19 includes a work control device (first work control device) 19L attached to the control table 18L, and a work control device (second work control device) 19R attached to the control table 18R. . The work control device 19 may include a work control device (third work control device) 19D provided on the right side of the driver's seat 6, that is, on the right side of the control table 18R.

FIG. 1 shows an outline of a hydraulic circuit (hydraulic system) for operating a hydraulic actuator of a work implement.
As shown in FIG. 1, the hydraulic system of the work machine 1 includes a work system hydraulic actuator such as a boom cylinder C3, an arm cylinder C4, a bucket cylinder C5, and a swing motor MT, a first travel motor ML, a second travel motor MR, and the like. This is a system for operating the traveling system hydraulic actuator. In FIG. 1, for convenience of explanation, a circuit for controlling the dozer cylinder and the swing cylinder is omitted.

The hydraulic system of the work machine 1 includes a first hydraulic pump P1, a second hydraulic pump P2, and a plurality of control valves 33. The first hydraulic pump P1 is a pump that supplies hydraulic oil to the work system hydraulic actuator and the traveling system hydraulic actuator. The first hydraulic pump P1 is, for example, a constant capacity pump or a variable capacity pump. The second hydraulic pump P2 is a pump that supplies hydraulic oil for signals or control, that is, pilot oil. The plurality of control valves 33 are valves that control the work system hydraulic actuator and the travel system hydraulic actuator. A first hydraulic pump P 1 is connected to the plurality of control valves 33 via an oil passage 34.

The plurality of control valves 33 include a boom control valve 33C that controls the boom cylinder C3, an arm control valve 33D that controls the arm cylinder C4, a bucket control valve 33E that controls the bucket cylinder C5, and a swing control valve 33F that controls the swing motor MT. The first traveling control valve 33G for controlling the first traveling motor ML and the second traveling control valve 33H for controlling the second traveling motor MR are included.

The boom control valve 33C is connected to the boom cylinder C3 via the oil passage 43. The arm control valve 33D is connected to the arm cylinder C4 via the oil passage 44. The bucket control valve 33E is connected to the bucket cylinder C5 through the oil passage 45. The turning control valve 33F is connected to the turning motor MT via the oil passage 46. The first travel control valve 33 G is connected to the first travel motor ML via an oil passage (first oil passage) 47. The second travel control valve 33H is connected to the second travel motor MR via an oil passage (second oil passage) 48.

A boom solenoid valve 37C is connected to the pressure receiving portion of the boom control valve 33C. An arm electromagnetic valve 37D is connected to the pressure receiving portion of the arm control valve 33D. A bucket electromagnetic valve 37E is connected to the pressure receiving portion of the bucket control valve 33E. A swing electromagnetic valve 37F is connected to the pressure receiving portion of the swing control valve 33F. A forward solenoid valve 37G1 and a reverse solenoid valve 37G2 are connected to the pressure receiving portion of the first travel control valve 33G. A forward solenoid valve 37H1 and a reverse solenoid valve 37H2 are connected to the pressure receiving portion of the second travel control valve 33H.

That is, the plurality of control valves 33 are connected to electromagnetic valves 37 (37C, 37D, 37E, 37F, 37G1, 37G2, 37H1, or 37H2) corresponding to the respective control valves 33. The second hydraulic pump P2 is connected to each solenoid valve 37 via an oil passage 49, and the pilot pressure acting on the pressure receiving portion of the control valve 33 corresponding to the solenoid valve 37 according to the opening degree of the solenoid valve 37. Changes.

The boom control valve 33C, the arm control valve 33D, the bucket control valve 33E, the turning control valve 33F, the first travel control valve 33G, and the second travel control valve 33H are, for example, direct acting spool type switching valves. Each of the plurality of control valves 33 (33C, 33D, 33E, 33F, 33G, 33H) is controlled by the pilot oil acting on the pressure receiving portion via the plurality of electromagnetic valves 37 corresponding to the control valve 33. The direction of the hydraulic oil supplied to is switched, and the working system hydraulic actuator (boom cylinder C3, arm cylinder C4, bucket cylinder C5, swing motor MT) or traveling system hydraulic actuator (first traveling motor ML, second traveling) The flow rate of hydraulic oil supplied to the motor MR) is controlled.

The work system hydraulic actuator is operated by a work control device 19 (work control device 19L, work control device 19R, work control device 19D) held by an operator during operation. The work control device 19L includes an operation member 40L that is swingably supported by the control table 18L, and a first operation detection unit 41L that detects a swing amount of the operation member 40L. The operating member 40L is a lever that can swing forward, rearward, right, and left from a neutral position with respect to the control panel 18L. The first operation detection unit 41L is a potentiometer that detects a swing amount (operation amount) from the neutral position before, behind, right, and left of the operation member 40L.

When the operator or the like operates the operation member 40L, the operation amount and operation direction of the operation member 40L are detected by the first operation detection unit 41L, and the detected operation amount and operation direction are input to the control device 60. The control device 60 excites the solenoid of the swing electromagnetic valve 37F connected to the pressure receiving portion of the swing control valve 33F according to the operation amount and the operation direction of the operation member 40L, and controls the opening degree of the swing electromagnetic valve 37F. Alternatively, the solenoid of the arm electromagnetic valve 37D connected to the pressure receiving portion of the arm control valve 33D is excited to control the opening degree of the arm electromagnetic valve 37D. For example, the control device 60 controls the opening degree of the swing electromagnetic valve 37F when the operating direction of the operating member 40L is the left-right direction, and the arm electromagnetic valve 37D when the operating direction of the operating member 40L is the front-rear direction. To control the opening degree. As a result, the pilot pressure acts on the pressure receiving portion of the swing control valve 33F, the position of the swing control valve 33F is switched, and the rotation direction of the swing motor MT is switched according to the position, or the arm control valve 33D. The pilot pressure acts on the pressure receiving portion, the position of the arm control valve 33D is switched, and the arm cylinder C4 expands and contracts according to the position.

The work control device 19R includes an operation member 40R that is swingably supported by the control table 18R, and a second operation detection unit 41R that detects a swing amount of the operation member 40R. The operating member 40R is a lever that can swing forward, rearward, right, and left from a neutral position with respect to the control panel 18R. The second operation detection unit 41R is a potentiometer that detects a swing amount (operation amount) from the neutral position before, behind, right, and left of the operation member 40R.

When the operator or the like operates the operation member 40R, the operation amount and operation direction of the operation member 40R are detected by the second operation detection unit 41R, and the detected operation amount and operation direction are input to the control device 60. The control device 60 excites the solenoid of the boom solenoid valve 37C connected to the pressure receiving portion of the boom control valve 33C according to the operation amount and the operation direction of the operation member 40R, and controls the opening degree of the boom solenoid valve 37C. Alternatively, according to the operation amount and operation direction of the operation member 40R, the solenoid of the bucket electromagnetic valve 37E connected to the pressure receiving portion of the bucket control valve 33E is excited to control the opening degree of the bucket electromagnetic valve 37E. For example, the control device 60 controls the opening degree of the bucket electromagnetic valve 37E when the operation direction of the operation member 40R is the left-right direction, and controls the boom electromagnetic valve 37C when the operation direction of the operation member 40R is the front-rear direction. To control the opening degree. As a result, the pilot pressure acts on the pressure receiving portion of the boom control valve 33C, the position of the boom control valve 33C is switched, and the boom cylinder C3 expands or contracts according to the position, or the pressure receiving portion of the bucket control valve 33E The pilot pressure acts, the position of the bucket control valve 33E is switched, and the bucket cylinder C5 expands and contracts according to the position.

The work control device 19D is a control device arranged on the right side of the driver's seat 6 separately from the work control device 19R, and operates the dozer device 7. The work control device 19D includes an operation member 40D that is swingably supported, and a third operation detection unit 41D that detects a swing amount of the operation member 40D. The operation member 40D is a lever that can swing forward and backward from the neutral position. The third operation detection unit 41D is a potentiometer that detects a swing amount (operation amount) from a neutral position before and after the operation member 40D.

When the operator or the like operates the operation member 40D, the operation amount and operation direction of the operation member 40D are detected by the second operation detection unit 41R, and the detected operation amount and operation direction are input to the control device 60. The control device 60 excites the solenoid of the dozer solenoid valve connected to the pressure receiving portion of the dozer control valve according to the operation amount and operation direction of the operation member 40D, and controls the opening degree of the dozer solenoid valve. As a result, the pilot pressure acts on the pressure receiving portion of the dozer control valve, the position of the dozer control valve is switched, and the dozer cylinder expands and contracts according to the position.

As described above, by operating the work control device 19 (work control device 19L, work control device 19R, work control device 19D), the airframe 2, the boom 15, the arm 16, the bucket (work tool) 17, and the dozer device 7 are operated. Can be operated.
The travel device 3 A, that is, the travel system hydraulic actuator (the first travel motor ML and the second travel motor MR) is operated by the travel control device 50. The travel control device 50 is a device that can change the operation amount, and changes the opening of the travel control valves (the first travel control valve 33G and the second travel control valve 33R) according to the operation amount. This is a device that increases or decreases the flow rate (supply amount) of hydraulic oil supplied to the first travel motor ML and the second travel motor MR.

Specifically, the travel control device 50 includes a first travel pedal (first travel operation unit) 51L, a first travel detection unit 52L, a second travel pedal (second travel operation unit) 51R, and a second travel. And a detector 52R.
First, the first travel pedal 51L and the first travel detection unit 52L will be described.
The first travel pedal 51L is a travel pedal that is disposed in front of the driver's seat 6 and on the left, and that increases or decreases the flow rate of hydraulic oil supplied by the first travel motor ML. The first travel pedal 51L is swingably supported by the horizontal axis provided in front of the driver's seat 6 in front and rear.

The first travel detection unit 52L is a potentiometer that detects the swing amount (operation amount) from the neutral position before and after the first travel pedal 51L. That is, the first travel detection unit 52L detects the previous operation amount (referred to as the forward operation amount) when the first travel pedal 51L swings forward. Further, the first travel detection unit 52L detects a subsequent operation amount (referred to as a reverse operation amount) when the first travel pedal 51L swings later.

The first travel detection unit 52L is connected to the control device 60. The operation amount (previous operation amount, rear operation amount) of the first travel pedal 51L detected by the first travel detection unit 52L is input to the control device 60. Hereinafter, the operation amount of the first travel pedal 51L is collectively referred to as a first operation amount, the previous operation amount is referred to as a first pre-operation amount, and the rear operation amount is referred to as a first post-operation amount.
The control device 60 outputs a control signal to the forward electromagnetic valve 37G1 or the reverse electromagnetic valve 37G2 according to the magnitude of the first operation amount, and sets the opening degree of the forward electromagnetic valve 37G1 or the reverse electromagnetic valve 37G2. For example, the maximum value of the first front operation amount of the first travel pedal 51L (the maximum value of the first front operation amount detected by the first travel detection unit 52L) is 100%, and the first value when the first travel pedal 51L is neutral. When the previous operation amount (minimum value of the first previous operation amount detected by the first travel detection unit 52L) is expressed as a percentage as 0%, the control device 60 sets the numerical value of the first previous operation amount indicated by the percentage. Accordingly, the opening degree of the forward electromagnetic valve 37G1 is set. For example, when the first pre-operation amount is 50%, the control device 60 sets the opening degree of the forward electromagnetic valve 37G1 to 50%, and when the first pre-operation amount is 100%, the forward electromagnetic valve The opening of 37G1 is set to 100%.

Similarly, when the maximum value of the first rear operation amount of the first travel pedal 51L is 100% and the first rear operation amount at the neutral time of the first travel pedal 51L is expressed as a percentage, the control device 60 The opening degree of the reverse solenoid valve 37G2 is set according to the numerical value of the first post-operation amount indicated by the percentage. For example, when the first reverse operation amount is 50%, the control device 60 sets the opening degree of the reverse solenoid valve 37G2 to 50%, and when the first reverse operation amount is 100%, the reverse solenoid valve The opening degree of 37G2 is set to 100%. As a matter of course, the relationship between the first front operation amount and the opening degree of the forward electromagnetic valve 37G1, and the relationship between the first rear operation amount and the opening degree of the reverse electromagnetic valve 37G2 are not limited to the above-described values.

Accordingly, for example, when the operator depresses the first travel pedal 51L and the first operation amount that is the depressing amount is detected by the first travel detecting unit 52L, the control device 30 determines that the forward electromagnetic valve 37G1 is in accordance with the depressing amount. Alternatively, the opening degree of the reverse solenoid valve 37G2 is set. Therefore, the first travel control valve 33G opens according to the opening degree of the forward solenoid valve 37G1 or the reverse solenoid valve 37G2, and increases or decreases the flow rate (first supply amount) of hydraulic fluid flowing from the first travel control valve 33G to the oil passage 47. Let That is, the flow rate of hydraulic oil supplied from the oil passage 47 to the first travel motor ML of the travel device 3A increases or decreases depending on the operation amount of the travel control device 50, and the travel speed when the travel device 3A (work machine) turns to the left. Can be changed.

Next, the second travel pedal 51R and the second travel detection unit 52R will be described.
The second travel pedal 51R is a travel pedal that is disposed in front of the driver's seat 6 and on the right, and that increases or decreases the flow rate of hydraulic oil supplied by the second travel motor MR. The second traveling pedal 51R is supported by a horizontal axis provided in front of the driver's seat 6 so as to be swingable forward and backward.
The second travel detection unit 52R is a potentiometer that detects a swing amount (operation amount) from a neutral position before and after the second travel pedal 51R. That is, the second travel detection unit 52R detects the forward operation amount when the second travel pedal 51R swings forward. Further, the second travel detection unit 52R detects the reverse operation amount when the second travel pedal 51R swings later.

The second travel detection unit 52R is connected to the control device 60. The operation amount (previous operation amount, rear operation amount) of the first travel pedal 51L detected by the second travel detection unit 52R is input to the control device 60. Hereinafter, the operation amount of the second travel pedal 51R is collectively referred to as a second operation amount, the previous operation amount is referred to as a second pre-operation amount, and the rear operation amount is referred to as a second post-operation amount.
The control device 60 outputs a control signal to the forward electromagnetic valve 37H1 or the reverse electromagnetic valve 37H2 according to the magnitude of the second operation amount, and sets the opening degree of the forward electromagnetic valve 37H1 or the reverse electromagnetic valve 37H2. For example, the maximum value of the second front operation amount of the second travel pedal 51R (the maximum value of the second front operation amount detected by the second travel detection unit 52R) is 100%, and the second value when the second travel pedal 51R is neutral. When the previous operation amount (the minimum value of the second previous operation amount detected by the second travel detection unit 52R) is expressed as a percentage with 0%, the control device 60 sets the numerical value of the second previous operation amount indicated by the percentage. Accordingly, the opening degree of the forward electromagnetic valve 37H1 is set. For example, when the second pre-operation amount is 50%, the control device 60 sets the opening degree of the forward electromagnetic valve 37H1 to 50%, and when the second pre-operation amount is 100%, the forward electromagnetic valve Set the opening of 37H1 to 100%.

Similarly, when the maximum value of the second rear operation amount of the second travel pedal 51R is 100% and the second rear operation amount at the neutral time of the second travel pedal 51R is expressed as a percentage, the control device 60 The opening degree of the reverse solenoid valve 37H2 is set according to the numerical value of the second post-operation amount indicated by the percentage. For example, when the second reverse operation amount is 50%, the control device 60 sets the opening degree of the reverse solenoid valve 37H2 to 50%, and when the second reverse operation amount is 100%, the reverse solenoid valve Set the opening of 37H2 to 100%. As a matter of course, the relationship between the second pre-operation amount and the opening degree of the forward electromagnetic valve 37H1, and the relationship between the second post-operation amount and the opening degree of the reverse electromagnetic valve 37H2 are not limited to the values described above.

Therefore, for example, when the operator depresses the second travel pedal 51R and the second operation amount that is the depressing amount is detected by the second travel detecting unit 52R, the control device 30 determines the forward electromagnetic valve 37H1 according to the depressing amount. Alternatively, the opening degree of the reverse solenoid valve 37H2 is set. Therefore, the second travel control valve 33H opens according to the opening degree of the forward solenoid valve 37H1 or the reverse solenoid valve 37H2, and increases or decreases the flow rate (second supply amount) of hydraulic fluid flowing from the second travel control valve 33H to the oil passage 48. Let That is, the flow rate of hydraulic oil supplied from the oil passage 48 to the second travel motor MR of the travel device 3A increases or decreases depending on the operation amount of the travel control device 50, and the travel speed when the travel device 3A (work machine) turns right. Can be changed.

When the first travel pedal 51L and the second travel pedal 51R are operated simultaneously, the control device 60 causes the travel solenoid valves (forward solenoid valves 37G1, 37H1, reverse solenoid valves) according to the first operation amount and the second operation amount. 37G2 and 37H2) are set.
Specifically, when the first travel pedal 51L and the second travel pedal 51R are stepped forward, the control device 60 advances the forward electromagnetic valve 37G1 according to the first front operation amount and the second front operation amount that are the stepping amounts. , 37H1 is set. In this case, at the time of forward movement, the flow rate of the hydraulic oil supplied from the first travel control valve 33G to the oil passage 47 increases and decreases, and the flow rate of the hydraulic oil supplied from the second travel control valve 33H to the oil passage 48 increases and decreases. As a result, the flow rate of the hydraulic oil supplied to the first travel motor ML and the second travel motor MR is increased or decreased, and the travel speed when the travel device 3A (work machine) moves forward can be changed.

Further, when the first travel pedal 51L and the second travel pedal 51R are stepped back, the control device 60 moves the reverse solenoid valves 37G2, 37H2 in accordance with the first rear operation amount and the second rear operation amount, which are stepping amounts. Set the opening of. In this case, during reverse travel, the flow rate of hydraulic fluid supplied from the first travel control valve 33G to the oil passage 47 increases and decreases, and the flow rate of hydraulic fluid supplied from the second travel control valve 33H to the oil passage 48 increases and decreases. As a result, the flow rate of the hydraulic oil supplied to the first travel motor ML and the second travel motor MR is increased or decreased, and the travel speed at the time of reverse travel of the travel device 3A (work machine) can be changed.

As described above, according to the travel control device 50, by operating the first travel pedal 51L, the flow rate (first supply amount) of hydraulic oil supplied from the first travel control valve 33G to the oil passage 47 is increased or decreased, and the second By operating the travel pedal 51R, the flow rate (second supply amount) of hydraulic oil supplied from the second travel control valve 33H to the oil passage 48 can be increased or decreased. In other words, according to the travel control device 50, the “first supply” is the amount of hydraulic oil supplied to the travel device 3A (first travel motor ML, second travel motor MR) corresponding to the operation amount of the travel control device 50. The amount, the second supply amount "can be changed.

In addition, as shown in FIG. 1, the hydraulic system of the work machine 1 includes an unload valve 90 connected to a pilot oil passage 49 for supplying pilot oil. The unload valve 90 is a two-position switching valve that can be switched between a first position (load position) 90A where the pilot oil is supplied and a second position (unload position) 90B where the supply is stopped. The unload valve 90 is biased to the second position 90B by a spring 92 or the like. The unload valve 90 can be switched between the first position 90A and the second position 90B by operating a steering lock lever 93 that is swingably supported on the side of the driver's seat 6. The state in which the steering lock lever 93 is lowered on the side of the driver's seat 6 and the raised state are detected by a detection device or the like provided in the vicinity of the steering lock lever 93 and input to the control device 60. When the detection device detects that the steering lock lever 93 is lowered, the control device 60 excites the solenoid of the unload valve 90 and switches the unload valve 90 to the load position 90A. When the detection device detects that the steering lock lever 93 is raised, the control device 60 demagnetizes the solenoid of the unload valve 90 and switches the unload valve 90 to the unload position 90B.

Therefore, when the unload valve 90 is in the unload position, the solenoid valves (the boom solenoid valve 37C, the arm solenoid valve 37D, the bucket solenoid valve 37E, the swing solenoid valve 37F, the forward solenoid valve 37G1, the reverse solenoid valve 37G2, and the forward solenoid valve 37H1 and the reverse solenoid valve 37H2) are no longer supplied with hydraulic oil (pilot oil), and thus cannot be operated by the work control device 19 (19L, 19R). On the other hand, when the unload valve 90 is in the load position, the solenoid valves (the boom solenoid valve 37C, the arm solenoid valve 37D, the bucket solenoid valve 37E, the swing solenoid valve 37F, the forward solenoid valve 37G1, the reverse solenoid valve 37G2, and the forward solenoid valve 37H1). Since the hydraulic oil (pilot oil) can be supplied to the reverse solenoid valve 37H2), the steering operation by the work control device 19 (19L, 19R) becomes possible.

As shown in FIG. 1, a plurality of first opening adjustment valves 71 are provided in the oil passage 47 that connects the first traveling motor ML and the first traveling control valve 33 G. The plurality of first opening adjustment valves 71 are valves that change the supply amount of hydraulic oil from the first travel control valve 33G to the first travel motor ML, that is, the first supply amount.
Specifically, the oil passage 47 supplies hydraulic oil from the first travel control valve 33G to the first travel motor ML when moving forward, and discharges the hydraulic oil from the first travel motor ML to the first travel control valve 33G when moving backward. The supply / exhaust oil passage 47a and the supply that supplies hydraulic oil from the first travel control valve 33G to the first travel motor ML during reverse travel and discharges the hydraulic oil from the first travel motor ML to the first travel control valve 33G during forward travel. And an oil discharge passage 47b. The first opening adjustment valve 71 is provided in each of the supply / discharge oil passage 47a and the supply / discharge oil passage 47b. The first opening adjustment valve 71 is connected to the control device 60. The opening degree of the first opening adjustment valve 71 is changed by a control signal output from the control device 60. The first supply amount is changed by the opening degree of the first opening adjustment valve 71, and the changed first supply amount (referred to as a first changed supply amount) is supplied to the first travel motor ML.

A plurality of second opening degree adjusting valves 72 are provided in the oil passage 48 connecting the second travel motor MR and the second travel control valve 33H. The plurality of second opening adjustment valves 72 are valves that change the supply amount of hydraulic oil from the second travel control valve 33H to the second travel motor MR, that is, the second supply amount.
Specifically, the oil passage 48 supplies hydraulic oil from the second travel control valve 33H to the second travel motor MR when moving forward, and discharges hydraulic oil from the second travel motor MR to the second travel control valve 33H when moving backward. The supply / discharge oil passage 48a and the supply for supplying hydraulic oil from the second travel control valve 33H to the second travel motor MR during reverse travel and discharging the hydraulic oil from the second travel motor MR to the first travel control valve 33G during forward travel. And an oil drain passage 48b. The second opening adjusting valve 72 is provided in each of the supply / discharge oil passage 48a and the supply / discharge oil passage 48b. The second opening adjustment valve 72 is connected to the control device 60. The opening degree of the second opening adjustment valve 72 is changed by a control signal output from the control device 60. The second supply amount is changed by the opening degree of the second opening adjustment valve 72, and the changed second supply amount (referred to as a second changed supply amount) is supplied to the second travel motor MR.

A switch operation unit 70 is connected to the control device 60. The switch operation unit 70 is a switch that changes the amount of hydraulic oil supplied to the traveling device 3A, that is, a switch that can change the traveling speed of the work implement in multiple stages, separately from the traveling control device 50. Specifically, the switch operation unit 70 supplies hydraulic oil to the travel device 3A corresponding to the operation amounts (first operation amount, second operation amount) of the travel control device 50 (first supply amount, second supply amount). That is, the switch can change the first supply amount output from the first travel control valve 33G and the second supply amount output from the second travel control valve 33H in multiple stages. In other words, the switch operation unit 70 is a switch that sets the opening degree of the first opening degree adjusting valve 71 and the second opening degree adjusting valve 72. In other words, the switch operation unit 70 is a switch that sets a first change supply amount that enters the first travel motor ML and a second change supply amount that enters the second travel motor MR.

The operation signal of the switch operation unit 70 is input to the control device 60. FIG. 2A shows the gear ratio F that can be set by the switch operation unit 70 and the supply ratio of the change supply amount (first change supply amount, second change supply amount) to the supply amount (first supply amount, second supply amount). Is shown. The relationship between the gear stage F and the supply ratio is a preset value and is stored in the storage unit 61 of the control device 60 or the like. Further, since the supply ratio is substantially the same as the shift ratio of the traveling speed of the work machine 1, the description will be continued with the supply ratio and the shift being associated with each other.

As shown in FIG. 2A, for example, the gear stage F is set to five stages F1 to F5, the gear stage F5 which is the maximum gear stage has a gear ratio (supply ratio) of 100%, and the changed supply amount is It is the same as the supply amount. The shift stage F1, which is the minimum shift stage, has a shift ratio (supply ratio) of 25%, and the changed supply amount is 25% of the supply amount. For example, the gear ratio of the gear stage F1 is set in accordance with the traveling speed when the spare attachment is attached and the work and the traveling are performed. Further, the gear ratio of the gear stage F2 is set in accordance with, for example, the traveling speed at the time of the work of putting the earth and sand scooped up by the bucket 17 or the like on the transport vehicle. Note that the relationship between the shift speed F and the shift ratio (supply ratio) is not limited to the above-described example.

The switch operation unit 70 includes a speed increasing switch 70A and a speed reducing switch 70B. The speed increasing switch 70A is a switch for increasing the shift stage F, that is, the changed supply amount. The speed increasing switch 70A is, for example, a momentary switch, and the gear stage F increases each time the switch is pressed. The deceleration switch 70B is a switch for reducing the shift stage F, that is, the changed supply amount. The decrease switch 70B is, for example, a momentary switch, and the shift speed F decreases each time the switch 70B is pressed.

The acceleration switch 70A and the deceleration switch 70B are provided in the work control device 19. For example, the deceleration switch 70B is provided in the first work control device 19L, and the speed increase switch 70A is provided in the second work control device 19R. The speed increasing switch 70A may be provided in the work control device 19D that operates the dozer device 7 in addition to the second work control device 19R, or may be provided only in the work control device 19D.

Further, the switch operation unit 70 may be provided in a control device that is held by an operator or the like during traveling. Specifically, the first travel pedal 51L and the first travel operation unit 51R of the travel control device 50 described above are configured not by the travel pedal but by a travel lever that is swingably supported in front of the driver's seat 6 or the like. The switch operating unit 70 is provided on the travel lever. For example, when two traveling levers are provided, it is preferable to provide a speed increasing switch 70A for the traveling lever 51R arranged on the right side and a deceleration switch 70B for the traveling lever 51L arranged on the left side. Further, only one traveling lever may be provided, and one traveling lever may be provided with either the deceleration switch 70B or the speed increasing switch 70A, or both the speed reducing switch 70B and the speed increasing switch 70A. The operating mode and function of the travel lever are the same as those of the travel pedal.

As shown in FIG. 7, the operating member 40R is provided with a grip 40R1 held by an operator or the like, and the grip 40R1 is provided with a speed increasing switch 70A. The operating member 40L is provided with a grip 40L1 that is held by an operator or the like, and the deceleration switch 70B is provided on the grip 40L1.
Next, operations of the switch operation unit 70 (acceleration switch 70A, deceleration switch 70B) and operations of the control device 60 will be described.

The control device 60 has a normal mode and an attachment mode. In the control device 60, switching between the normal mode and the attachment mode can be performed by a display device connected to the control device 60. The display device is composed of, for example, a liquid crystal monitor, and various switches are attached thereto.
When the control device 60 is in the normal mode, the control device 60 reads and holds the shift speeds F2 to F5 and the shift ratios (supply ratios) corresponding to the shift speeds F2 to F5 from the storage unit 61. For example, in the normal mode, immediately after the engine E1 is started, the gear stage F of the control device 60 is set to the second smallest gear stage F2. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72, and sets the opening of the first opening adjustment valve 71 and the second opening adjustment valve 72 to the shift stage F2. Is held at an opening corresponding to.

On the other hand, when the control device 60 is in the attachment mode, the control device 60 reads the shift speeds F1 to F5 and the shift ratios (supply ratios) corresponding to the shift speeds F1 to F5 from the storage unit 61 and holds them. For example, in the attachment mode, immediately after the engine E1 is started, the gear stage F of the control device 60 is set to the smallest gear stage F1. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72, and sets the opening of the first opening adjustment valve 71 and the second opening adjustment valve 72 to the shift stage F1. Is held at an opening corresponding to.

In both the normal mode and the attachment mode, when the speed increasing switch 70A is operated by an operator or the like, the control device 60 increases the speed F by one step according to the number of times the speed increasing switch 70A is pressed. As a matter of course, when the gear stage F is already at the maximum value, the control device 60 holds the maximum value of the gear stage F even if the speed increasing switch 70A is operated. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72 every time the gear stage F is changed, and the first opening adjustment valve 71 and the second opening adjustment. The opening degree of the valve 72 is held at the opening degree corresponding to the changed gear stage F.

Further, when the deceleration switch 70B is operated by an operator or the like, the control device 60 decreases the gear stage F by one step according to the number of times the deceleration switch 70B is pressed. As a matter of course, the control device 60 sets the minimum value of the shift speed F (the shift speed F2 in the normal mode and the shift speed F1 in the attachment mode) even if the deceleration switch 70B is operated when the shift speed F is already at the minimum value. Hold. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72 every time the gear stage F is changed, and the first opening adjustment valve 71 and the second opening adjustment. The opening degree of the valve 72 is held at the opening degree corresponding to the changed gear stage F.

Accordingly, by operating the switch operation unit 70 (acceleration switch 70A, deceleration switch 70B) to increase / decrease the gear stage F, the flow rate of hydraulic oil entering the first travel motor ML and the second travel motor MR, that is, The traveling speed of the work machine 1 can be changed in multiple stages.
In the embodiment described above, the travel control device 50 has two travel operation units, the first travel operation unit 50L and the second travel operation unit 50R, but the first travel motor ML and the second travel motor. In the case of the traveling device 3A that does not drive the MR separately, it may have one traveling operation unit. The travel control device 50 has two travel detection units, a first travel detection unit 52L and a second travel detection unit 52R, but has one travel detection unit in the same manner as the travel operation unit. It may be.

The hydraulic system is provided with a plurality of first opening adjustment valves 71. However, when the first oil passage 47 is an oil passage through which hydraulic oil is circulated, the first opening adjustment valve 71 is one. It may be one. The hydraulic system is provided with a plurality of second opening adjustment valves 72. However, when the second oil passage 48 is an oil passage through which hydraulic oil is circulated, the second opening adjustment valve 72 is 1. It may be one.
3A to 3D show a modification of the hydraulic system that changes the traveling speed. In FIGS. 3A to 3D, only the hydraulic system necessary for the description is shown, and other configurations are omitted.

In the modification shown in FIG. 3A, the first opening adjustment valve 71 and the second opening adjustment valve 72 are eliminated, and the forward solenoid valve 37G1, the reverse solenoid valve 37G2, the forward solenoid valve 37H1, and the reverse solenoid valve 37H2 are replaced by electromagnetic proportional valves ( Hereinafter, it is an example comprised of a traveling electromagnetic valve). The traveling electromagnetic valve is connected to the control device 60 and controlled by the control device 60. Specifically, for example, as shown in FIG. 2B, the control device 60 stores, for each gear stage F (F1 to F5), a shift ratio indicating a ratio of the change operation amount to the operation amount of the travel control device 50. Yes. Therefore, when the operation amount of the travel control device 50 is input to the control device 60, the control device 60 determines the change opening by multiplying the operation amount by the change rate, and based on the change opening. A control signal is output to the traveling solenoid valve. The travel solenoid valve has an opening corresponding to the control signal output from the control device 60.

The modified example shown in FIG. 3B is an example in which the first opening control valve 71 and the second opening adjustment valve 72 are eliminated, and the pressure receiving portions of the first travel control valve 33G and the second travel control valve 33H are changed to travel electromagnetic valves. It is. That is, the modification of FIG. 3B is an example in which the first travel control valve 33G and the second travel control valve 33H are changed to control valves with an electromagnetic proportional valve. The operation of the electromagnetic proportional valve (traveling electromagnetic valve) in the first traveling control valve 33G and the second traveling control valve 33H is the same as that of the modified example of FIG. 3A.

The modification shown in FIG. 3C shows a traveling device 3B whose traveling speed changes based on a control signal. The traveling device 3B is a hydraulic traveling device in which a regulator or the like that changes the swash plate angle is operated by a control signal. The traveling device 3B has a traveling motor (first traveling motor ML, second traveling motor MR) that is rotated by hydraulic oil. The regulators of the first travel motor ML and the second travel motor MR are operated by a control signal indicating a travel control value output from the control device 60. The travel control value is determined by the travel control device 50 and the switch operation unit 70.

Specifically, the traveling control device 50 is a device connected to the control device 60 as in the above-described embodiment, and increases or decreases the traveling control value (swash plate angle) of the traveling device 3B. The switch operation unit 70 is a switch that changes the travel control value (swash plate angle) increased or decreased by the travel control device 50 in multiple stages.
The switch operation unit 70 determines the travel control value of the regulator of the first travel motor ML corresponding to the operation amount for the first travel pedal 51L of the travel control device 50 and the operation amount for the first travel operation unit 51R of the travel control device 50. The travel control value of the regulator of the corresponding second travel motor MR can be changed in multiple stages. As shown in FIG. 2C, the control device 60 stores, for example, a gear ratio indicating the ratio of the changed swash plate angle to the swash plate angle set by the travel control device 50 for each gear stage F (F1 to F5). .

Therefore, when the operation amount of the travel control device 50 is input to the control device 60, the control device 60 calculates a swash plate angle (travel control value) corresponding to the operation amount, and changes the calculated travel control value to a ratio of change. , The final swash plate angle (travel control value) is determined, and the determined travel control value (change travel control value) is output to the regulator. The regulators of the first travel motor ML and the second travel motor MR change the swash plate angle according to the travel control value (changed travel control value) output from the control device 60. As described above, the traveling speed of the work implement 1 can be changed by changing the swash plates of the first traveling motor ML and the second traveling motor MR.

The modification shown in FIG. 3D shows a traveling device 3C whose traveling speed changes based on a control signal. The traveling device 3 C is an electric traveling device that electrically rotates the axle or the like of the work machine 1. The traveling device 3C has a traveling motor (a first traveling motor ML and a second traveling motor MR). The first travel motor ML and the second travel motor MR are electric motors, and the number of rotations is changed by a control signal indicating a travel control value output from the control device 60. The travel control value (the number of rotations) is determined by the travel control device 50 and the switch operation unit 70.

Specifically, the traveling control device 50 is a device connected to the control device 60 as in the above-described embodiment, and increases or decreases the traveling control value (rotation speed) of the traveling device 3D. The switch operation unit 70 is a switch that changes the travel control value (number of rotations) increased or decreased by the travel control device 50 in multiple stages. The switch operation unit 70 corresponds to the rotation speed of the first travel motor ML corresponding to the operation amount of the travel control device 50 to the first travel pedal 51L and the operation amount of the travel control device 50 to the first travel operation unit 51R. 2 The rotational speed of the traveling motor MR can be changed in multiple stages.

As shown in FIG. 2D, the control device 60 stores, for example, a shift ratio, which is a ratio of the changed rotation speed to the rotation speed set by the traveling control apparatus 50, for each gear stage F (F1 to F5). Therefore, when the operation amount of the travel control device 50 is input to the control device 60, the control device 60 calculates the rotation speed (travel control value) corresponding to the operation amount, and calculates the calculated rotation speed (travel control value). Is multiplied by the change ratio to determine the final rotational speed (travel control value), and the determined travel control value (change travel control value) is output to the first travel motor ML and the second travel motor MR. Thus, the traveling speed of the work machine 1 can be changed by changing the rotation speeds of the first traveling motor ML and the second traveling motor MR.

In the present embodiment, the work machine 1 has multiple levels of the amount of hydraulic oil supplied to the

travel devices

3A and 3B, the travel control device 50, and the

travel devices

3A and 3B corresponding to the operation amounts of the travel control device 50. A switch operation unit 70 that can be changed. Therefore, even if the operation amount of the traveling control device 50 is not adjusted, the amount of hydraulic oil supplied to the traveling

devices

3A and 3B can be changed in multiple stages only by operating the switch operation unit 70. That is, the traveling speed of the work machine 1 can be easily changed by changing the amount of hydraulic oil supplied by the switch operation unit 70.

Further, the work implement 1 includes travel devices 3C and 3D, a travel control device 50, and a switch operation unit 70 that can change the travel control value of the travel control device 50 in multiple stages. Therefore, the travel control value for the travel devices 3C and 3D can be changed by only operating the switch operation unit 70 without adjusting the operation amount of the travel control device 50. That is, the traveling speed of the work implement 1 can be easily changed by changing the traveling control value by the switch operation unit 70.

In addition, the work machine 1 includes the work device 4 and a work control device 19 that is gripped during operation, and the switch operation unit 70 is provided in the work control device 19. Therefore, the switch operation unit 70 can be operated while operating the work device 4 by the work control device 19.
The travel control device 50 is a control device that is gripped during operation, and the switch operation unit 70 is provided in the travel control device 50. Therefore, the switch operation unit 70 can be operated while the traveling operation device 50 performs the traveling operation. In particular, in the present embodiment, in the traveling control device 50 gripped at the time of operation, a deceleration switch 70B is provided on the first traveling pedal 51L disposed on one side of the driver's seat 6, and the second traveling disposed on the other side of the driver's seat 6. A speed increasing switch 70A is provided on the pedal 51R. Therefore, the operator can increase the speed by operating the speed increasing switch 70A with the right hand, and can decrease the speed by operating the speed reducing switch 70B with the left hand.

Further, the switch operation unit 70 includes a speed increasing switch 70A that increases the amount of hydraulic oil supplied to the traveling device 3A, and a speed reduction switch 70B that decreases the amount of hydraulic oil supplied to the traveling

devices

3A and 3B. . Therefore, the traveling speed of the work implement 1 can be easily changed only by operating the speed increasing switch 70A and the speed reducing switch 70B.
The work control device 19 includes a first work control device 19L disposed on one side of the driver's seat 6 and a second work control device 19R disposed on the other side of the driver's seat 6. The work control device 19L has a deceleration switch. 70B is provided, and the speed increasing switch 70A is provided in the second work control device 19R. Therefore, the operator can increase the speed by operating the speed increasing switch 70A with the right hand, and can decrease the speed by operating the speed reducing switch 70B with the left hand.

The work device 4 includes a dozer device 7. Aside from the second work control device 19R, a third work control device 19D for operating the dozer device 7 is provided on the other side of the driver's seat 6, and the third work control device 19D is accelerated. A switch 70A is provided. Therefore, the traveling speed of the work implement 1 can be changed while operating the dozer device 7 with the third work control device 19D.
When the travel control device 50 is a travel pedal supported so as to be swingable, the travel speed of the work implement 1 can be easily changed by the operator depressing the travel pedal. For example, when the first travel pedal 51L is the first travel pedal and the second travel pedal 51R is the second travel pedal, the work implement 1 is advanced by stepping on the first travel pedal and the second travel pedal with the left foot and the right foot, respectively. Alternatively, the operating device 4L is moved by moving the work system actuator while grasping the operating member 40L with the left hand and the operating member 40R with the right hand, and further operating the speed increasing switch 70A and the speed reducing switch 70B with a finger. And the change of the traveling speed of the work machine 1 can be easily performed.
[Second Embodiment]
FIG. 4 shows a work machine 1 according to the second embodiment of the present invention. In addition, the same code | symbol is attached | subjected about the structure similar to 1st Embodiment, and the description is abbreviate | omitted.

As described above, the work machine 1 can be mounted with another work tool (preliminary attachment) that can be driven by a hydraulic actuator instead of or in addition to the bucket 17.
A connecting member C 6 is provided at the front portion of the boom 15. The connection member C 6 is a device that connects the hydraulic equipment provided in the preliminary attachment and the first pipe material such as a pipe provided in the boom 15. Specifically, the first pipe member can be connected to one end of the connection member C6, and the second pipe member connected to the hydraulic device of the preliminary attachment can be connected to the other end. Thereby, the hydraulic oil flowing through the first pipe material passes through the second pipe material and is supplied to the hydraulic equipment.

Hereinafter, the dozer cylinder C1, the swing cylinder C2, and the preliminary attachment in the hydraulic system of the work machine 1 will be described in detail.
The work machine 1 includes, as control valves 33, a dozer control valve 33A that controls the dozer cylinder C1, a swing control valve 33B that controls the swing cylinder C2, and a preliminary control valve 33I that controls the preliminary attachment.

The dozer control valve 33A is connected to the dozer cylinder C1 via the oil passage 101. The swing control valve 33B is connected to the swing cylinder C2 via the oil passage 42. The preliminary control valve 33I is connected to the preliminary attachment via the oil passage 109, the first pipe material, the second pipe material, and the connection member C6.
A dozer solenoid valve 37A is connected to the pressure receiving portion of the dozer control valve 33A. A swing electromagnetic valve 37B is connected to the pressure receiving portion of the swing control valve 33B. A backup electromagnetic valve 37I is connected to the pressure receiving portion of the backup control valve 33I.

That is, the solenoid valves 37 (37A, 37B, or 37I) are connected to the plurality of control valves 33 described above corresponding to the respective control valves 33. The second hydraulic pump P2 is connected to each solenoid valve 37 via an oil passage 49, and the pilot pressure acting on the pressure receiving portion of the control valve 33 corresponding to the solenoid valve 37 according to the opening degree of the solenoid valve 37. Changes.
The dozer control valve 33A, the swing control valve 33B, and the preliminary control valve 33I are, for example, direct acting spool type switching valves. Each of the plurality of control valves 33 (33A, 33B, 33I) is brought into contact with the control valve 33 by pilot oil acting on the pressure receiving portion via the electromagnetic valve 37 corresponding to the control valve 33, as in the other work system actuators. The direction of the supplied hydraulic oil is switched, and the flow rate of the supplied hydraulic oil is controlled.

The control device 60 has a normal mode (first mode), an attachment mode, and a mower mode (second mode). The mower mode is a mode selected when a mower is attached as a preliminary attachment. In the more mode, when running while working, the vehicle runs at a low speed and does not require high speed running. Here, a mower is a mower that cuts pasture. In the control device 60, switching between the normal mode, the attachment mode, and the mower mode can be performed by a display device connected to the control device 60.

When the control device 60 is in the mower mode, the control device 60 reads and holds the shift speeds F0 to F5 and the shift ratios (supply ratios) corresponding to the shift speeds F0 to F5 from the storage unit 61. As shown in FIG. 5A, for example, the gear stage F is set to six stages F0 to F5, the gear stage F5 which is the maximum gear stage has a gear ratio of 100%, and the changed supply amount is the same as the supply amount. It is. The shift speed F0, which is the minimum shift speed, has a shift ratio of 15%, and the changed supply amount is 15% of the supply amount. The speed ratio of the gear stage F0 is set so that the required amount of hydraulic oil can be supplied to the travel motors ML and MR in accordance with the travel speed when the work is performed while the spare attachment is attached, for example. Thereby, since the flow volume of the hydraulic oil used for driving | running | working can be kept to the minimum necessary, the flow volume of the hydraulic oil supplied to a mower (preliminary attachment) can be ensured stably.

Note that the relationship between the shift speed F and the shift ratio is not limited to the above-described example, and for example, the setting of the supply ratio may be changed by a display device. Also, the timing at which the gear ratio setting can be changed is not particularly limited. For example, it may be performed only when the vehicle is not running, or only when the spare attachment is not operated, and can be performed while the spare attachment is operating. It may be.

For example, in the mower mode, immediately after the engine E1 is started, the gear stage F of the control device 60 is set to the smallest gear stage F0. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72, and sets the opening of the first opening adjustment valve 71 and the second opening adjustment valve 72 to the gear stage F0. Is held at an opening corresponding to.
In addition, when the slide operation unit 100A described later is operated so as to maximize the opening degree of the preliminary control valve 33I in the mower mode, the opening degree of the preliminary control valve 33I is held at the maximum opening degree. In other words, when the slide operation unit 100A is operated so as to maximize the amount of hydraulic oil supplied to the preliminary attachment, the hydraulic fluid discharge amount with respect to the preliminary attachment is held at the maximum discharge amount. If the above operation is performed again, the holding is released. The relationship between the operation amount of the slide operation unit 100A and the opening degree of the preliminary control valve 33I is not limited to this. For example, after operating the slide operation unit 100A to maximize the opening degree of the preliminary control valve 33I, the opening degree of the preliminary control valve 33I is not maintained at the maximum opening degree until the same operation is performed again. The opening of the preliminary control valve 33I may be linked to the operation amount of the operation unit 100A.

In any of the normal mode, the attachment mode, and the mower mode, when the speed increasing switch 70A is operated by an operator or the like, the control device 60 increases the shift speed F by one according to the number of times the speed increasing switch 70A is pressed. Let As a matter of course, when the gear stage F is already at the maximum value, the control device 60 holds the maximum value of the gear stage F even if the speed increasing switch 70A is operated. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72 every time the gear stage F is changed, and the first opening adjustment valve 71 and the second opening adjustment. The opening degree of the valve 72 is held at the opening degree corresponding to the changed gear stage F.

Further, when the deceleration switch 70B is operated by an operator or the like, the control device 60 decreases the gear stage F by one step according to the number of times the deceleration switch 70B is pressed. As a matter of course, even if the speed change switch F is already at the minimum value, the control device 60 does not operate the speed change switch F at the minimum value (the shift speed F2 in the normal mode, the shift speed F1 in the attachment mode, the mower mode). Then, the gear position F0) is maintained. The control device 60 outputs a control signal to the first opening adjustment valve 71 and the second opening adjustment valve 72 every time the gear stage F is changed, and the first opening adjustment valve 71 and the second opening adjustment. The opening degree of the valve 72 is held at the opening degree corresponding to the changed gear stage F.

Accordingly, by operating the switch operation unit 70 (acceleration switch 70A, deceleration switch 70B) to increase / decrease the gear stage F, the flow rate of hydraulic oil entering the first travel motor ML and the second travel motor MR, that is, The traveling speed of the work machine 1 can be changed in multiple stages.
5B to 5D show shift ratios in the mower mode corresponding to the modification of the hydraulic system that changes the traveling speed shown in FIGS. 3B to 3D. 3A and 3B, for example, as shown in FIG. 5B, the control device 60 sets the speed change ratio indicating the ratio of the change operation amount to the operation amount of the travel control device 50 to the gear stage F ( Stored for each of F0 to F5). In the modification shown in FIG. 3C, as shown in FIG. 5C, the control device 60 sets the speed change ratio indicating the ratio of the changed swash plate angle to the swash plate angle set by the traveling control device 50, for example, at the gear stage F (F0 Is stored for each F5). In the modification shown in FIG. 3D, as shown in FIG. 5D, the control device 60 sets the speed change ratio, which is the ratio of the changed rotational speed to the rotational speed set by the traveling control device 50, for example, to the gear stage F (F0 to F5). ) Every time.

As described above, the control device 60 of the work machine 1 has the normal mode, the attachment mode, and the mower mode. For this reason, when a spare attachment such as a mower is connected to the work machine 1, it is suitable for the traveling speed during the work when the work machine 1 is run while working with the spare attachment without modification or vehicle speed adjustment. A sufficient amount of hydraulic oil can be supplied.
In this embodiment, in the normal mode, the gear stage F is set to five stages F1 to F5, and in the mower mode, F0 that is slower than F1 is added and set to six stages F0 to F5. However, it is not limited to this. For example, in the case of the mower mode, five levels F0 to F4 or four levels F0 to F4 may be used. Alternatively, in the mower mode, the gear ratio corresponding to F1 to F5 may be set to a value different from that in the normal mode. For example, F1 = 25%, F2 = 40%, F3 = 60%, F4 = 80%, F5 = 100% are set in the normal mode, and F1 = 15%, F2 = 25%, F3 = 40% in the more mode. F4 = 60% and F5 = 80% may be set.

In the present embodiment, the case where the mower mode is used as the second mode has been described. However, the second mode is not limited to this, and may be another mode in which work is performed while traveling.
As shown in FIG. 6A, the control device 60 includes an operation unit 100.
The operation unit 100 is provided in the work control device 19 that is held by an operator during operation. Specifically, the operation member 40R of the first work control device 19R is provided with a grip 40R1 held by an operator or the like, and the grip 40R1 is provided with a slide operation unit 100A, a switch 101A, and a speed increasing switch 70A. ing. Further, the operation member 40L of the second work control device 19L is provided with a grip 40L1 held by an operator or the like, and the grip 40L1 is provided with a slide operation unit 100B, a switch 101B, and a deceleration switch 70B. The configuration of the operation unit 100 is not limited to the above-described example, and may be provided only in the first work control device 19R, or may be provided only in the second work control device 19L, for example. The speed increasing switch 70A is provided in the middle of the grip 40R1 and on the front side of the body. Specifically, it is provided at a position where an index finger of an operator or the like holding the grip 40R1 overlaps. The speed increasing switch 70A is a trigger switch. The slide operation unit 100A is provided on the upper side of the grip 40R1 and on the rear side of the machine body. Specifically, it is provided at a position where a thumb of an operator or the like holding the grip 40R1 overlaps. The push switch 101A includes, for example, a tact switch, and is provided in the vicinity of the slide operation unit 100A (for example, below the slide operation unit 100A) so that an operator or the like holding the grip 40R1 can perform a pressing operation with the thumb.

The deceleration switch 70B is provided in the middle of the grip 40L1 and on the front side of the aircraft. Specifically, it is provided at a position where an index finger such as an operator holding the grip 40L1 overlaps. The deceleration switch 70B is a trigger switch. The slide operation unit 100B is provided on the upper side of the grip 40L1 and on the rear side of the machine body. Specifically, it is provided at a position where a thumb of an operator or the like holding the grip 40L1 overlaps. The push switch 101B includes, for example, a tact switch, and is provided in the vicinity of the slide operation unit 100B (for example, below the slide operation unit 100B) so that an operator or the like holding the grip 40L1 can perform a pressing operation with the thumb.

The

slide operation units

100A and 100B are operation devices capable of changing the amount of hydraulic oil supplied to the work device 4, that is, the amount of hydraulic oil supplied from the control valve 33. In other words, the slide operation units 100 A and 100 B are operation devices that set the opening degree of the electromagnetic valve connected to the control valve 33. The

slide operation units

100A and 100B are variable resistors that can detect a movement amount (operation amount), such as a slide volume. The operation signals of the

slide operation units

100A and 100B are input to the control device 60. When the

slide operation units

100A and 100B are slid in one direction, the control device 60 controls to open the electromagnetic valve. When the

slide operation units

100A and 100B are slid in the other direction, the control device 60 controls to close the electromagnetic valve.

In this embodiment, as shown in FIG. 6B, the slide operation unit 100A is used for the operation of the preliminary attachment. The slide operation unit 100B is used for operating the swing cylinder C2. Note that the

slide operation units

100A and 100B and the operation target illustrated in FIG. 6B are merely examples, and for example, the slide operation unit 100A may be used for swing angle operation, or the slide operation unit 100B may be used as a preliminary attachment. It may be used for operation.

In the present embodiment, the opening of the preliminary electromagnetic valve 37I can be set by operating the slide operation unit 100A, and the amount of hydraulic oil supplied to the preliminary attachment via the preliminary control valve 33I can be changed.
Further, the opening of the swing electromagnetic valve 37B can be set by operating the slide operation unit 100B, and the amount of hydraulic oil supplied to the swing cylinder C2 via the swing control valve 33B can be changed.

Specifically, when an operator or the like operates the slide operation unit 100A, the slide operation unit 100A detects the operation amount and the operation direction, and outputs an operation signal corresponding to the detected operation amount and operation direction to the control device 60. To do. The control device 60 excites the solenoid of the preliminary electromagnetic valve 37I connected to the pressure receiving portion of the preliminary control valve 33I according to the operation amount and the operation direction of the slide operation unit 100A, and controls the opening degree of the preliminary electromagnetic valve 37I. To do. As a result, the pilot pressure acts on the pressure receiving portion of the preliminary control valve 33I, the position of the preliminary control valve 37I is switched, and the preliminary attachment is operated according to the position. Further, when the slide operation unit 100A is operated so as to maximize the opening degree of the preliminary control valve 33I, the opening degree is maintained. In other words, when the operation is performed to maximize the amount of hydraulic oil supplied to the preliminary attachment, the maximum discharge amount is maintained. If the above operation is performed again, the holding is released.

Further, when an operator or the like operates the slide operation unit 100B, the slide operation unit 100B detects the operation amount and the operation direction, and outputs an operation signal corresponding to the detected operation amount and operation direction to the control device 60. The control device 60 excites the solenoid of the swing electromagnetic valve 37B connected to the pressure receiving portion of the swing control valve 33B according to the operation amount and operation direction of the slide operation unit 100B, and controls the opening degree of the swing electromagnetic valve 37B. To do. As a result, the pilot pressure acts on the pressure receiving portion of the swing control valve 33B, the position of the swing control valve 37B is switched, and the swing cylinder C2 expands and contracts according to the position. Further, when the slide operation unit 100B is operated so as to maximize the opening degree of the swing control valve 33B, the opening degree is maintained. In other words, when the operation is performed to maximize the amount of hydraulic oil supplied to the swing cylinder C2, the maximum discharge amount is maintained. If the above operation is performed again, the holding is released.

Further, a horn that emits a warning sound can be operated by pressing a push switch 101B provided in the grip 40L1. Note that the function of the horn may be assigned to the push switch 101A provided in the grip 40R1. The speed increasing switch 70A and the speed reducing switch 70B are as described above.
FIG. 6C shows a modification. This modification shows an example of function assignment to each switch in the case where a first auxiliary attachment and a second auxiliary attachment different from the first auxiliary attachment are provided as the auxiliary attachment. The slide operation unit 100A is used to manipulate the amount of hydraulic oil supplied to the first preliminary attachment. The slide operation unit 100B is used to operate the amount of hydraulic oil supplied to the swing cylinder C2 and the second preliminary attachment. The push switch 101A provided on the grip 40R1 is used for switching operation of whether the slide operation unit 100B is used for the operation of the swing cylinder C2 or the operation of the second preliminary attachment. That is, in response to the operation signal of the push switch 101A, the control device 60 switches the operation target of the slide operation unit 100B to the swing cylinder C2 or the second preliminary attachment.

Note that the operation target devices shown in FIGS. 6B and 6C are merely examples. For example, the slide operation unit 100A may be an operation device that operates the supply amount of hydraulic oil to the first preliminary attachment and the second preliminary attachment, and the slide operation unit 100B includes the first preliminary attachment and the swing cylinder C2. It may be an operating device for operating the supply amount of hydraulic oil. Further, when there is no need to switch the slide operation unit 100B, for example, when there is a single preliminary attachment, the push switch provided on the grip 40R1 may be assigned to an operation for maintaining the bucket angle.

As described above, in the work machine 1, the operation unit 100 that changes the amount of hydraulic oil supplied to the work device 4 is provided in at least one of the first work control device 19L and the second work control device 19R. Yes. Thus, the hydraulic work device such as the boom 15, the arm 16, and the spare attachment and the swing cylinder C2 can be operated without changing from the first work control device 19L and the second work control device 19R. For this reason, simultaneous operation of the working device 4 and the hydraulic device C2 is facilitated.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims. In the above-described embodiment, the traveling device is a crawler traveling device. However, instead of this, a traveling device of a wheel type having a front wheel and a reverse gear may be used. In the above-described embodiment, the first traveling motor ML and the second traveling motor MR are driven by the first traveling control valve 33G and the second traveling control valve 33H, but instead of this, by the power of the prime mover E1 or the like. A system (Hydro Mechanical Transmission) in which the first travel motor ML and the second travel motor MR are driven by the travel pump to be driven may be used.

DESCRIPTION OF SYMBOLS 1 Work implement 3A Traveling apparatus

3B Traveling apparatus

3C Traveling apparatus 6 Driver's seat 19L 1st work control apparatus 19R 2nd work control apparatus 19D 3rd work control apparatus 50 Travel control apparatus 51L 1st travel operation part 51R 2nd travel operation part 70 Switch operation part 70A Speed increase switch 70B Reduction switch

Claims

A traveling device whose traveling speed changes according to the flow rate of hydraulic oil;
A traveling control device for increasing or decreasing the flow rate of hydraulic oil supplied to the traveling device;
A switch operation unit capable of changing the supply amount of hydraulic oil to the travel device corresponding to the operation amount of the travel control device in multiple stages;
A working machine characterized by comprising:
A traveling device whose traveling speed changes based on the traveling control value;
A travel control device for increasing or decreasing the travel control value;
A switch operation unit capable of changing the travel control value of the travel control device in multiple stages;
A working machine characterized by comprising:
A working device;
A work control device for operating the work device, the work control device gripped during operation;
With
The work machine according to claim 1, wherein the switch operation unit is provided in the work control device.
The traveling control device is a control device that is gripped during operation,
The work machine according to claim 1, wherein the switch operation unit is provided in the traveling control device.
The switch operation unit includes a speed increasing switch for increasing a supply amount of hydraulic oil to the traveling device and a deceleration switch for decreasing a supply amount of hydraulic oil to the traveling device. Item 4. The working machine according to Item 1.
The work control device includes a first work control device disposed on one side of the driver's seat, and a second work control device disposed on the other side of the driver's seat,
The switch operation unit includes a deceleration switch provided in the first work control device and reducing the number of steps, and a speed increasing switch provided in the second work control device and increasing the number of steps. The working machine according to claim 3.
The deceleration switch is disposed at a position for an operator holding the first work control device to operate with a finger different from the thumb,
The speed increasing switch is disposed at a position for an operator holding the second work control device to operate with a finger different from the thumb,
An operation unit for changing the supply amount of hydraulic oil to the work device is provided at a position where an operator who holds the work control device in at least one of the first work control device and the second work control device can operate with a thumb. The working machine according to claim 6, wherein the working machine is provided.
The working device includes a dozer device,
The work control device has a third work control device that is arranged on the other side of the driver's seat and operates the dozer device separately from the second work control device,
The work machine according to any one of claims 3, 5, and 6, wherein the switch operation unit includes a speed increasing switch that is provided in the third work control device and increases the number of stages.
The travel control device includes a first travel operation unit disposed on one side of the driver seat, and a second travel operation unit disposed on the other side of the driver seat,
The switch operation unit includes a deceleration switch that is provided in the first travel operation unit and decreases the number of stages in the multistage, and a speed increase switch that is provided in the second travel operation unit and increases the number of stages. The working machine according to claim 4, wherein:
The work implement according to any one of claims 1 to 3, and 5 to 8, wherein the travel control device is a travel pedal supported so as to be swingable.
Has multiple working modes,
The storage unit according to any one of claims 1 to 10, further comprising a storage unit that stores, for each of the work modes, a setting corresponding to each step of the amount of hydraulic oil supplied to the traveling device set in multiple steps. Working machine.